Continuous mechanical-arm space obstacle avoidance trajectory planning method

Abstract

The invention discloses a continuous mechanical-arm space obstacle avoidance trajectory planning method. The continuous mechanical-arm space obstacle avoidance trajectory planning method comprises thefollowing steps that a kinematic model of a continuous mechanical arm is established, tail end space trajectories are generated according to task requirements, a space reference curve of mechanical-arm configuration is established utilizing a modal function, the tail end of the mechanical arm can be made to reach a desired position, the mechanical-arm configuration is fitted with the space reference curve according to deformation characteristics of a single section mechanical arm, the single section arm segment configuration is calculated according to reference fitting points, whether the continuous mechanical arm collides with an obstacle or not is detected, the mechanical-arm configuration is adjusted according to the obstacle avoidance strategy, and obstacle avoidance is realized. By means of the continuous mechanical-arm space obstacle avoidance trajectory planning method provided by the invention, the continuous mechanical-arm space obstacle avoidance trajectory planning can be realized.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a space obstacle avoidance trajectory planning method of a continuous manipulator. Background technique [0002] Inspired by the structures of biological organisms in nature such as elephant trunks, vines, snakes, etc., the design and technology of continuous robots with continuous deformation structures are receiving more and more attention. A continuous robot refers to a class of manipulators with a continuously deformable structure. Compared with traditional manipulators, continuous manipulators have strong flexibility and inherent compliance, so they are especially suitable for operations in complex unstructured environments and tasks that interact with humans. However, due to the complex motion model of the continuous manipulator, its path planning for obstacle avoidance in complex environments is a very challenging problem, especially for the continuous manipulator with hyp...

AI Technical Summary

Problems solved by technology

However, due to the complex motion model of the continuous manipulator, its path planning for obstacle avoidance in complex environments is a very challenging problem, especially for the continuous manipulator with hyper-redundancy, if the commonly used The Jacobian matrix pseudo-inverse method has a large amount of calculation, so it is necessary to study a relatively simple spatial obstacle avoidance planning algorithm

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